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encoding 32bit angle into data buffer

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Peli de Halleux
2017-12-19 16:54:44 -08:00
parent 7123bfecd3
commit 9cca35d49f
3 changed files with 11 additions and 5 deletions
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10
sim/state/motor.ts
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@@ -19,9 +19,15 @@ namespace pxsim {
console.log("motor before read");
for (let port = 0; port < DAL.NUM_OUTPUTS; ++port) {
const output = outputs[port];
const speed = output ? Math.round(outputs[port].getSpeed()) : 0;
const angle = output ? Math.round(outputs[port].getAngle()) : 0;
const tsi = MotorDataOff.TachoSensor + port * MotorDataOff.Size;
data[MotorDataOff.TachoCounts + port * MotorDataOff.Size] = 0; // Tacho count
data[MotorDataOff.Speed + port * MotorDataOff.Size] = output ? outputs[port].getSpeed() : 0; // Speed
data[MotorDataOff.TachoSensor + port * MotorDataOff.Size] = output ? outputs[port].getAngle() : 0; // Count
data[MotorDataOff.Speed + port * MotorDataOff.Size] = speed; // Speed
data[tsi] = angle & 0xff; // Count
data[tsi + 1] = (angle >> 8) & 0xff; // Count
data[tsi + 2] = (angle >> 16) & 0xff; // Count
data[tsi + 3] = (angle >> 24) & 0xff; // Count
}
},
read: buf => {